201201784 六、發明說明： 【發明所屬之技術領域】 特別是指一種可利用單腳移 本發明是關於一種輪椅 動的輪椅。 【先前技術】 一般輪椅在設計上通常具有一個骨架單元、一對安裝 在骨架單元左右兩侧的大車輪、至少—個搭掛在立中一個 大：輪外側的手控輪、一對小車輪，以及一個搭設在該骨 架早兀上的靠坐墊，而所述骨架單元通常具有—對位於後 方並方便看護q握持的扶^已知輪椅的移動方式大致 有兩種’ -種是看護人員位在輪椅後方，#雙手握住扶手 推動輪椅前進，-鼓患者自己制手控輪㈣輪椅前進 0 已知輪椅在設計上雖然可以讓患者自己移動但一般 來說’人體的手臂力量比較小’因此’在推送輪椅前進二 比較費力’而當患者的手部無法施力_，也無法靠著自己 的力里移動輪椅，故已知輪椅在設計上有待改進。 【發明内容】 本發明之目的是在提供一種方便單腳操控，並可提高 移動速度之可利用單腳移動的輪椅。 间 本發明之輪椅包含：一骨架單元、-安裝在該骨架單 元之帛彻j架上的腳控機冑，以及_個受到腳控g ϋ & 制而驅動該骨架單元前進的雙向驅動機構，該腳控機構包 括-個安裝在該第一側架上的固定軌條，以及一個可被使 3 201201784 用者的單腳操控而沿著該固定執條前後移動的腳控件。而 該雙向驅動機構包括一和骨架單元之一輪軸連動的連動軸 、 個可驅動該連動軸同向轉動的腳控齒輪、一個受到該 腳控件驅動而可雙向轉動的共同齒輪、一支隨著該共同齒 輪同步轉動的驅動軸、一個架設在該驅動軸上並與腳控齒 輪喷合的銜接齒輪組，以及一個架設在該驅動軸上並可驅 動該銜接齒輪組轉向的換向齒輪組。該銜接齒輪組具有一 第一單向軸承，而該換向齒輪組具有一個驅動方向與第一 單向軸承相反的第二單向軸承。 本發明的有益功效在於：藉由該等單向軸承驅動方向 的不同，可以讓腳控件無論是前進或者是後退，都可帶動 骨架單元前進，如此一來，不僅提供了方便患者單腳控制 骨架單元前進的功能，亦具有移動快速的功效。 【實施方式】 有關本發明之前述及其他技術内容、特點與功效，在 以下配a參考圖式之較佳實施例的詳細說明中，將可清楚 的呈現。 參閱圖1 2 3本發明輪椅之一較佳實施例包含：一 月架早το 1、-個腳控機構2、一個安裝在該骨架單元上上 並受該腳控機構2控制的雙向驅動機構3，以及—個以電動 方式驅動骨架單元1行進的電動機構4。 11 11 上的輪軸架組12 本實施例之骨架單A 1包括：-位於左側的第一側架 、-個位於右側的第二側架u，、一個安裝在該第一側架 一個連接該等第一及第二側架u、 201201784 11’的連接支架13、一個固定地安裝在該第一側架u前方 的控向輪組14、一個安裝在第二側架u，前下方的定向輪組 15、一個可轉動地安裝在第一側架u外側的第一輪組丨6， 以及一個安裝在該第二側架u’外側的第二輪組16，，在該 等第一側架11、第二側架11’及連接支架13上方還搭設有 一個圖中未示出的坐靠墊。 本實施例之第一側架11具有兩支前後向延伸且上下間 隔的側桿111、112、分別連接在該等側桿m、112前方及 後方的一前連桿113、一後連桿114,以及一支直立插設在 »亥後連；f干114上的扶手桿115。而該第二侧架u，的構造與 第一側架11類似，不再說明◎本實施例之輪軸架組12具有 一個固定地安裝在第一側架n上的輪軸架座121、一輪軸 軸承122，以及一個架轴件123，該輪軸架座121具有一個 位在側桿111下方並供輪軸軸承122安裝的軸承架部124， 以及一個往前並往内延伸的延伸桿部125，而該架軸件123 疋架6又在6玄延伸桿部125上並平行於該軸承架部丨24。 本實施例之控向輪組14具有一個自前連桿113往前突 出的控向插座141、一支可轉動地插設在該控向插座141上 的控向輪桿142、一個安裝在該控向輪桿142下方的控向輪 座143、一個架設在該控向輪座143下方的控向輪}44，以 及一個使該控向輪144止動的煞車件145。而該定向輪組 15具有-個固定地結合在該第二側帛^，前了方的定向輪座 151以及一個安裝在該定向輪座151下方的定向輪152。 本實施例之第一輪組16具有一支可轉動地架設在輪軸軸承 5 201201784 122及架軸件123之間的輪軸161，以及一個與該輪軸⑹ 連轉地…的車輪162,而該第二輪組16，的構造與第一輪 i 16類似’不同之處在於··該第二輪組還具有一個連 動地安裝在車輪162外側的手控輪163 ^ 本實施例之腳控機構2包括：一支水平地架設在該第 一側架11之側桿111下方的軌道架桿21、—支安裝在該執 «桿2!内側且前後向延伸的固定軌们2，以及一個與該 固定執條22套合並可前後向滑移的腳控件23。該軌道架桿 21 “有個往下突出並鄰近後連桿114的固定突塊叫，而 该腳控件23具有—個水平並與固定軌條22套合的滑移控 部=個自該滑移控部231前方往前再往下方延伸的前 延伸部232、-個位在該前延伸部攻底端的腳控部扣， 以及-個自該滑移控部231往後水平突出的排齒部234 ,所 述腳控部233具有—個位於前方的前踏板235，以及一個位 於後方並與前踏板235間隔的後踏桿236，所述排齒部234 並具有數個朝下的卡齒237。 參閱圖3、4、5，本實施例之雙向驅動機構3包括：一 穿套在輪軸161外周圍並可驅動輪轴161沿著—前進方向$ 轉動的連動軸31、一個穿套在該連動軸31上並驅動連動軸 =沿進方向5旋轉的腳控齒輪32、—個安裝在該固定 突塊2U内側的齒輪安裝座33、一支可雙向轉動地架設在 S〆齒輪安裝座33上的驅動軸34，以及間隔地架設在該驅動 軸34上的-共同齒輪35、—個銜接齒輪組％及―換向齒 輪組37。 201201784 .。亥/、同齒輪35與驅動軸34是可同步雙向轉動，其並 ”腳控件23之排齒部234喷合，而該銜接齒輪組％具有 個和腳控齒輪32唾合的銜接齒輪361，以及-個將該銜 接齒輪361架設在該驅動轴34上的第一單向轴承362,該 =接齒輪361具有一個圍繞該驅動軸34的環齒壁，此 %齒壁363具有—個和腳控齿輪32喷合的外齒面364，以 及曰個圍繞該驅動軸34的内齒面365,而該第-單向軸承 φ 362是用來單向動力銜接該銜接齒輪361及驅動軸34。 本實施例之換向齒輪組37具有一個太陽齒輪371、一 個將该太陽齒輪371架設在該驅動轴34上的第二單向軸承 372’以及兩個用來動力銜接該太陽齒輪爪及銜接齒輪 361之内齒面365的行星齒輪373，該第二單向轴承372的 驅動方向與第-單向軸承372的驅動方向相反。即當共同 齒輪35沿著前進方向5轉動時，該驅動軸34將同向轉動 •並藉由第二單向軸承372與太陽齒輪371動力銜接而 φ ▼動太陽齒輪371同向旋轉，之後太陽齒㉟371會帶動行 星齒輪373沿著-相反於前進方向5的反方向6轉動^ 因此帶動銜接齒輪361往反方向6旋轉，亦即，受到第二 單向轴承362的作用，該驅動軸34在此時不會將作用力作 用在該銜接齒輪361，此銜接齒輪361的轉動力量來自 換向齒輪組37。 ； ^ 而當共同齒輪35受到驅動沿著反方向6轉動時，受其 驅動而往該反方向6轉動的驅動轴34，將因為第—單=轴 承362的銜接，而帶動銜接齒輪361往該反方向6旋轉， 201201784 此時該=陽齒輪371會因為第二單向轴承奶之驅動方向 相反於第-早向㈣362的緣故而空轉。亦即，無論該共 同齒輪35是被驅動沿著該前進方向5轉動或者沿著反方向 6轉動’與腳控齒輪32响合的銜接齒輪36ι都將沿著該反 方向6旋轉。 …閲圖卜2、3’本實施例之電動機構4包括：一 個架設在第—側架11之後連桿"4内侧的馬達架41、一個 安裝在該馬達架41上的電動馬達42、—個安裝在該電動馬 達42之-輸出轴上的輸出齒輪44，以及—個和連動轴η 、可離口的方式套接並和輸出齒輪44嚙合的電控齒輪43。 由於如何讓電控齒輪43與連動軸31離合並非本發明改良 重點，不再說明。 本實施例之輪椅在使用時，看護人員可以從後方手握 扶手桿115,再以人工方式推送輪椅前進及後退，患者也可 乂利用手。p的力量來推動該手控輪，或者以電動機構4 帶動骨架單元1前進。 參閱圖4、5、6、7,當患者想要利用單腳驅動輪椅前 進時，先將單腳擺放在腳控件23的腳控部233上並往前施 力，而在腳控件23被推送前移時，位於後方的排齒部234 將往前移動，並因此帶動腳控齒輪32往前進方向5旋轉， 藉由驅動軸34的連接會帶動太陽齒輪37〗同向轉動，之後 該太陽齒輪371會帶動嚙合的行星齒輪373及銜接齒輪組 36沿著反方向6轉動，由於該銜接齒輪361和腳控齒輪32 嚙合，且該腳控齒輪32也以連動軸31和輪軸161連動， 201201784 故可因此帶動車輪162(見圖 時帶動整個輪椅前進。 U沿著該前進方向5旋轉，同 备腳控機構2的腳控件23被串者 裉思者的皁腳操控而後退時 ，將帶動該共同齒輪35沿著反 有汉万向6轉動，由於該銜接齒 輪361是藉第一單向站永 早门釉承362和驅動軸34在此方向上動力 銜接，故藉由第一單向軸承362 及驅勤軸34的銜接，該共 同齒輪35及銜接齒輪361都會 I K王夂方向6轉動，並因此帶201201784 VI. Description of the invention: [Technical field to which the invention pertains] In particular, the invention relates to a wheelchair-operable wheelchair. The invention relates to a wheelchair-operated wheelchair. [Prior Art] Generally, a wheelchair usually has a skeleton unit, a pair of large wheels mounted on the left and right sides of the skeleton unit, and at least one hand-held wheel that is hung on the outside of the wheel: a pair of small wheels And a seat cushion erected on the early squat of the skeleton, and the skeletal unit usually has a pair of movements that are located at the rear and are conveniently held by the caregaker. In the back of the wheelchair, # both hands hold the handrail to push the wheelchair forward, - the drum patient's own hand control wheel (four) wheelchair advancement 0 It is known that the wheelchair can be designed to allow the patient to move by itself but generally the body's arm strength is relatively small. It is therefore known that the wheelchair is designed to be improved when it is difficult to push the wheelchair forward and the patient's hand cannot be applied _, and the wheelchair cannot be moved by its own force. SUMMARY OF THE INVENTION An object of the present invention is to provide a wheelchair that can be moved by one foot with a single foot control and a moving speed. The wheelchair of the present invention comprises: a skeleton unit, a foot control unit mounted on the frame of the skeleton unit, and a bidirectional driving mechanism driven by the foot control g ϋ & The foot control mechanism includes a fixed rail mounted on the first side frame, and a foot control that can be moved by the 3 201201784 user's single foot to move back and forth along the fixed bar. The two-way driving mechanism includes a linkage shaft that is coupled with one of the axle elements of the skeleton unit, a foot control gear that can drive the linkage shaft to rotate in the same direction, a common gear that can be bidirectionally rotated by the foot control, and a The common gear synchronously rotates the drive shaft, a coupling gear set that is mounted on the drive shaft and sprays with the foot control gear, and a reversing gear set that is mounted on the drive shaft and that can drive the engagement gear set to steer. The adapter gear set has a first one-way bearing and the reverse gear set has a second one-way bearing that is driven in a direction opposite the first one-way bearing. The beneficial effect of the invention is that, by the different driving directions of the one-way bearings, the foot control can advance the skeleton unit whether it is moving forward or backward, so that not only the patient single foot control skeleton is provided. The function of the unit advancement also has the effect of moving quickly. The above and other technical contents, features and effects of the present invention will be apparent from the following detailed description of the preferred embodiments of the invention. Referring to FIG. 1 2 3, a preferred embodiment of the wheelchair of the present invention comprises: a month frame early, a foot control mechanism 2, a two-way driving mechanism mounted on the skeleton unit and controlled by the foot control mechanism 2. 3, and a motor-driven mechanism 4 that electrically drives the skeleton unit 1 to travel. 11 11 Upper axle frame set 12 The skeleton single A 1 of this embodiment comprises: a first side frame on the left side, a second side frame u on the right side, and a first side frame mounted on the first side frame. a connecting bracket 13 of the first and second side frames u, 201201784 11', a steering wheel set 14 fixedly mounted in front of the first side frame u, and an orientation mounted on the front side of the second side frame u a wheel set 15, a first wheel set 6 rotatably mounted outside the first side frame u, and a second wheel set 16 mounted outside the second side frame u', on the first side A seat cushion (not shown) is further disposed above the frame 11, the second side frame 11' and the connecting bracket 13. The first side frame 11 of the embodiment has two side rods 111 and 112 extending forward and backward and spaced apart from each other, and a front connecting rod 113 and a rear connecting rod 114 respectively connected to the front and rear sides of the side rods m and 112. And a handrail rod 115 that is erected in an erected post; The structure of the second side frame u is similar to that of the first side frame 11. It is no longer explained that the wheel axle frame set 12 of the present embodiment has a wheel axle frame 121 fixedly mounted on the first side frame n, and an axle. a bearing 122, and a frame member 123 having a bearing frame portion 124 positioned below the side bar 111 and mounted for the axle bearing 122, and an extension rod portion 125 extending forwardly and inwardly, and The frame member 123 truss 6 is again on the 6-fold extension rod portion 125 and parallel to the bearing frame portion 丨24. The steering wheel set 14 of the present embodiment has a steering socket 141 protruding forward from the front connecting rod 113, a steering wheel lever 142 rotatably inserted on the steering socket 141, and one mounted on the control A steering wheel base 143 below the wheel bar 142, a steering wheel 174 mounted below the steering wheel base 143, and a brake member 145 for stopping the steering wheel 144. The directional wheel set 15 has a directional wheel base 151 fixedly coupled to the second side, a front side, and a directional wheel 152 mounted below the directional wheel base 151. The first wheel set 16 of the present embodiment has a wheel axle 161 rotatably mounted between the axle bearing 5 201201784 122 and the frame shaft member 123, and a wheel 162 coupled to the axle shaft (6), and the The structure of the second wheel set 16, is similar to that of the first wheel i 16 'the difference is that the second wheel set also has a hand control wheel 163 that is mounted on the outside of the wheel 162 in conjunction with each other. ^ The foot control mechanism 2 of this embodiment The utility model comprises: a rail frame rod 21 horizontally erected under the side rod 111 of the first side frame 11 , a fixed rail 2 which is mounted on the inner side of the lever rod 2 and extending forward and backward, and one and the same The fixed set of 22 sets incorporates a foot control 23 that can slide back and forth. The rail frame rod 21 "has a fixed protrusion protruding downward and adjacent to the rear link 114, and the foot control 23 has a sliding control portion that is horizontal and fits with the fixed rail 22 = one slide a front extension portion 232 extending forwardly from the front of the shift control portion 231, a foot control portion buckle positioned at the bottom end of the front extension portion, and a tooth row protruding horizontally from the slide movement control portion 231 The foot control portion 233 has a front pedal 235 located at the front, and a rear pedal 236 located at the rear and spaced apart from the front pedal 235, the dent portion 234 having a plurality of downward facing teeth 237. Referring to Figures 3, 4, and 5, the bidirectional driving mechanism 3 of the present embodiment includes: a linkage shaft 31 that is sleeved around the outer periphery of the axle 161 and that can drive the axle 161 to rotate in the forward direction $, a sleeve is placed over The interlocking shaft 31 drives the interlocking shaft=the foot control gear 32 rotating in the forward direction 5, the gear mounting seat 33 mounted on the inner side of the fixing protrusion 2U, and one of the two-rotatably erected mounting on the S〆 gear mounting seat a drive shaft 34 on the 33, and a common gear 35, which is mounted on the drive shaft 34 at intervals The gear set % and the "commutation gear set 37." 201201784 .. The sea/, the same gear 35 and the drive shaft 34 are synchronously bi-directionally rotatable, and the toothed portion 234 of the foot control 23 is sprayed, and the engaging gear set % has a connecting gear 361 that is spouted with the foot control gear 32, and a first one-way bearing 362 that mounts the connecting gear 361 on the drive shaft 34, the = gear 361 having a surrounding of the drive shaft 34 The ring gear wall 363 has an outer tooth surface 364 that is sprayed with the foot control gear 32, and an inner tooth surface 365 that surrounds the drive shaft 34, and the first one-way bearing φ 362 is The unidirectional power is coupled to the connecting gear 361 and the drive shaft 34. The reversing gear set 37 of the present embodiment has a sun gear 371, a second one-way bearing 372' on which the sun gear 371 is mounted on the drive shaft 34, and two for powering the sun gear pawl and the connecting gear. The planetary gear 373 of the inner tooth surface 365 of 361 has a driving direction opposite to that of the first one-way bearing 372. That is, when the common gear 35 rotates in the advancing direction 5, the drive shaft 34 will rotate in the same direction and be coupled to the sun gear 371 by the second one-way bearing 372, and the φ ▼ moving sun gear 371 rotates in the same direction, after which the sun The tooth 35371 will drive the planetary gear 373 to rotate in the opposite direction 6 opposite to the forward direction 5, thereby driving the engaging gear 361 to rotate in the opposite direction 6, that is, by the second one-way bearing 362, the drive shaft 34 is At this time, a force is not applied to the engaging gear 361, and the rotational force of the engaging gear 361 comes from the reversing gear set 37. ^ When the common gear 35 is driven to rotate in the reverse direction 6, the drive shaft 34 that is driven to rotate in the opposite direction 6 will drive the engaging gear 361 to the end due to the engagement of the first-bearing 362 In the opposite direction 6 rotation, 201201784 At this time, the = male gear 371 will idle because the driving direction of the second one-way bearing milk is opposite to the first-earth (four) 362. That is, regardless of whether the common gear 35 is driven to rotate in the forward direction 5 or to rotate in the reverse direction 6, the engaging gear 361 that reciprocates with the foot control gear 32 will rotate in the opposite direction 6. The electric motor mechanism 4 of the present embodiment includes: a motor frame 41 mounted on the inner side of the link "4 after the first side frame 11, and an electric motor 42 mounted on the motor frame 41, An output gear 44 mounted on the output shaft of the electric motor 42 and an electronically controlled gear 43 that is coupled to the output shaft 44 in an detachable manner with the interlocking shaft η. Since the electronically controlled gear 43 and the interlocking shaft 31 are separated from each other and are not the focus of the present invention, they will not be described. When the wheelchair of the embodiment is in use, the caregiver can hold the handrail lever 115 from the rear, and then manually push the wheelchair forward and backward, and the patient can also use the hand. The force of p pushes the hand wheel, or the motor unit 4 drives the frame unit 1 forward. Referring to Figures 4, 5, 6, and 7, when the patient wants to drive the wheelchair forward with one foot, the one foot is placed on the foot control portion 233 of the foot control 23 and urged forward, and the foot control 23 is When the push forward is moved, the rear toothed portion 234 will move forward, and thus the foot control gear 32 is rotated in the forward direction 5, and the connection of the drive shaft 34 drives the sun gear 37 to rotate in the same direction, after which the sun The gear 371 drives the meshing planetary gear 373 and the engaging gear set 36 to rotate in the reverse direction 6. Since the engaging gear 361 and the foot control gear 32 mesh, the foot control gear 32 is also linked by the linkage shaft 31 and the axle 161, 201201784 Therefore, the wheel 162 can be driven accordingly (see the driving of the entire wheelchair as shown in the figure. U rotates along the forward direction 5, and the foot control 23 of the foot control mechanism 2 is controlled by the soap foot of the stalker and is retracted. The common gear 35 rotates along the anti-mandrel 6 . Since the connecting gear 361 is mechanically coupled in the direction by the first one-way station, the permanent door glaze 362 and the drive shaft 34 are coupled by the first one-way. The engagement of the bearing 362 and the drive shaft 34, the common gear 35 I K adapter gear 361 are rotated Wang Fan direction 6, and thus with
動腳控齒輪32沿著前進方向5旋轉。亦即，無論該腳控件 23被推送前進或者後退’該銜_ 361都是沿著該反方 向6轉動’並因此帶動喷合之腳控齒輪32沿著前進方向5 紅轉’以π動骨架單元丨前進。本發明該輪椅的設計不僅 、··。構創新’亦具有方便患者單腳操控，以及移動快速的功 效0 惟以上所述者’僅為本發明之較佳實施例而已，當不 能以此限定本發明實施之範圍，即大凡依本發明中請專利 範圍及發明說明内容所作之簡單的等效變化與修飾，皆仍 屬本發明專利涵蓋之範圍内。 【圖式簡單說明】 圖1是本發明輪椅之一較佳實施例的立體圖，圖中省 略該輪椅之一坐靠塾； 圖2是該較佳實施例之一局部立體分解圖，主要顯示 該輪椅之一腳控機構、一雙向驅動機構及一電動機構； 圖3是該較佳實施例之另一局部立體分解圖，主要顯 示該雙向驅動機構； 201201784 圖4是該較佳實施例之一未完整的元件對應關係圖， 主要顯示該雙向驅動機構； 圖5是該較佳實施例之一局部立體圖，亦用來顯示該 雙向驅動機構； 圖6是一類似圖2的局部立體組合圖；及 圖7是該較佳實施例之一局部俯視圖。The foot control gear 32 rotates in the forward direction 5. That is, whether the foot control 23 is pushed forward or retreats, the title 361 is rotated along the reverse direction 6 and thus the foot control gear 32 that drives the spray is red-turned along the advancement direction 5 to move the skeleton. The unit is moving forward. The design of the wheelchair of the present invention is not only... The invention also has the advantages of facilitating the patient's one-leg manipulation and the speed of the movement. However, the above description is only a preferred embodiment of the present invention, and the scope of the present invention cannot be limited thereto. The simple equivalent changes and modifications made by the patent scope and the description of the invention are still within the scope of the invention. BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a perspective view of a preferred embodiment of a wheelchair of the present invention, in which one of the wheelchairs is omitted; FIG. 2 is a partial exploded perspective view of the preferred embodiment, mainly showing the FIG. 3 is another partial exploded perspective view of the preferred embodiment, mainly showing the bidirectional driving mechanism; 201201784 FIG. 4 is one of the preferred embodiments. FIG. 5 is a partial perspective view of the preferred embodiment, and is also used to display the two-way driving mechanism; FIG. 6 is a partial perspective assembled view similar to FIG. 2; And Figure 7 is a partial plan view of one of the preferred embodiments.
10 20120178410 201201784
【主要元件符號說明】 1 骨架單元 152 定向輪 11 第一側架 16 第一輪組 11, 第二側架 \6, 第二輪組 111 側桿 161 輪軸 112 側桿 162 車輪 113 前連桿 163 手控輪 114 後連桿 2 腳控機構 115 扶手桿 21 軌道架桿 12 輪軸架組 211 固定突塊 121 輪軸架座 22 固定軌條 122 輪軸轴承 23 腳控件 123 架軸件 231 滑移控部 124 軸承架部 232 前延伸部 125 延伸桿部 233 腳控部 13 連接支架 234 排齒部 14 控向輪組 235 前踏板 141 控向插座 236 後踏桿 142 控向輪桿 237 卡齒 143 控向輪座 3 雙向驅動機構 144 控向輪 31 連動軸 145 煞車件 32 腳控齒輪 15 定向輪組 33 齒輪安裝座 151 定向輪座 34 驅動軸 201201784 35 共同齒輪 372 36 銜接齒輪組 373 361 銜接齒輪 4 362 第一單向轴承 41 363 環齒壁 42 364 外齒面 43 365 内齒面 44 37 換向齒輪組 5 371 太陽齒輪 6 第二單向軸承 行星齒輪 電動機構 馬達架 電動馬達 電控齒輪 輸出齒輪 前進方向 反方向[Main component symbol description] 1 skeleton unit 152 directional wheel 11 first side frame 16 first wheel set 11, second side frame \6, second wheel set 111 side bar 161 axle 112 side bar 162 wheel 113 front link 163 Hand control wheel 114 Rear link 2 Foot control mechanism 115 Handrail bar 21 Track frame bar 12 Axle frame group 211 Fixed protrusion 121 Wheel frame holder 22 Fixed rail 122 Wheel bearing 23 Foot control 123 Frame member 231 Slip control unit 124 Bearing frame portion 232 Front extension portion 125 Extension rod portion 233 Foot control portion 13 Connection bracket 234 Gearing portion 14 Control wheel set 235 Front pedal 141 Control socket 236 Rear pedal 142 Control wheel 237 Tooth 143 Control wheel Block 3 Bidirectional drive mechanism 144 Control wheel 31 Linkage shaft 145 Brake part 32 Foot control gear 15 Directional wheel set 33 Gear mount 151 Directional wheel base 34 Drive shaft 201201784 35 Common gear 372 36 Connecting gear set 373 361 Connecting gear 4 362 One-way bearing 41 363 ring tooth wall 42 364 outer tooth surface 43 365 inner tooth surface 44 37 reversing gear set 5 371 sun gear 6 second one-way bearing planetary gear motor mechanism motor Electric motor electric control gear output gear forward direction reverse direction